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<div class="title">sparse_optimizer.h</div>  </div>
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<a href="sparse__optimizer_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_GRAPH_OPTIMIZER_CHOL_H_</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_GRAPH_OPTIMIZER_CHOL_H_</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &quot;../stuff/macros.h&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="optimizable__graph_8h.html">optimizable_graph.h</a>&quot;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="sparse__block__matrix_8h.html">sparse_block_matrix.h</a>&quot;</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="batch__stats_8h.html">batch_stats.h</a>&quot;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="comment">// forward declaration</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="keyword">class </span>ActivePathCostFunction;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keyword">class </span>OptimizationAlgorithm;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keyword">class </span>EstimatePropagatorCost;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_optimizer.html">   45</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_sparse_optimizer.html">SparseOptimizer</a> : <span class="keyword">public</span> <a class="code" href="structg2o_1_1_optimizable_graph.html">OptimizableGraph</a> {</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keyword">enum</span> {</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_optimizer.html#a085529b092eb7fe4970e0cd6c3bd18bfa040ef6eacdbc7ede37bc5280dc5a2814">   49</a></span>&#160;      <a class="code" href="classg2o_1_1_sparse_optimizer.html#a085529b092eb7fe4970e0cd6c3bd18bfa040ef6eacdbc7ede37bc5280dc5a2814">AT_COMPUTEACTIVERROR</a> = <a class="code" href="structg2o_1_1_optimizable_graph.html#a16d90305c171fe0582c6a8aef40ba89da33b97f5bc80d2e6227c95364573d3651">OptimizableGraph::AT_NUM_ELEMENTS</a>,</div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_optimizer.html#a085529b092eb7fe4970e0cd6c3bd18bfa9e4fe5403aed6a2ac8b31651c9379098">   50</a></span>&#160;      <a class="code" href="classg2o_1_1_sparse_optimizer.html#a085529b092eb7fe4970e0cd6c3bd18bfa9e4fe5403aed6a2ac8b31651c9379098">AT_NUM_ELEMENTS</a>, <span class="comment">// keep as last element</span></div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    };</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_optimizer.html#af974cb94744550cc732d61f7fd7d63ed">   53</a></span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classg2o_1_1_sparse_optimizer.html#af974cb94744550cc732d61f7fd7d63ed">ActivePathCostFunction</a>;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="comment">// Attention: _solver &amp; _statistics is own by SparseOptimizer and will be</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="comment">// deleted in its destructor.</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <a class="code" href="classg2o_1_1_sparse_optimizer.html#a00492515b99393555aec477ab486195b">SparseOptimizer</a>();</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classg2o_1_1_sparse_optimizer.html#a3c3602d865a05486a94ce48c6839bbd6">~SparseOptimizer</a>();</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="comment">// new interface for the optimizer</span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="comment">// the old functions will be dropped</span></div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="comment"></span>    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_sparse_optimizer.html#a56c0c13954ac7204cfb031c141ece9ae">initializeOptimization</a>(<a class="code" href="classg2o_1_1_hyper_graph.html#a5e2970e236c0dcb4eff7c205d7b6b4ae">HyperGraph::EdgeSet</a>&amp; eset);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_sparse_optimizer.html#a56c0c13954ac7204cfb031c141ece9ae">initializeOptimization</a>(<a class="code" href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">HyperGraph::VertexSet</a>&amp; vset, <span class="keywordtype">int</span> level=0);</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_sparse_optimizer.html#a56c0c13954ac7204cfb031c141ece9ae">initializeOptimization</a>(<span class="keywordtype">int</span> level=0);</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_sparse_optimizer.html#ae971d068585055973798f93ac2363d94">updateInitialization</a>(<a class="code" href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">HyperGraph::VertexSet</a>&amp; vset, <a class="code" href="classg2o_1_1_hyper_graph.html#a5e2970e236c0dcb4eff7c205d7b6b4ae">HyperGraph::EdgeSet</a>&amp; eset);</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  </div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_sparse_optimizer.html#a59db9f16934d3b9f7a52511f0be1bb07">computeInitialGuess</a>();</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_sparse_optimizer.html#a59db9f16934d3b9f7a52511f0be1bb07">computeInitialGuess</a>(<a class="code" href="classg2o_1_1_estimate_propagator_cost.html">EstimatePropagatorCost</a>&amp; propagator);</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_sparse_optimizer.html#ab8af902464774ec3d3910a3674791714">setToOrigin</a>();</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_sparse_optimizer.html#a098257ee6f13dbb79be07075244d9930">optimize</a>(<span class="keywordtype">int</span> iterations, <span class="keywordtype">bool</span> online = <span class="keyword">false</span>);</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_sparse_optimizer.html#a656be8b8244a48dc1207f29eec77af5a">computeMarginals</a>(<a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixXd&gt;</a>&amp; spinv, <span class="keyword">const</span> std::vector&lt;std::pair&lt;int, int&gt; &gt;&amp; blockIndices);</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_optimizer.html#ad9f7ba03f7f37114f757f34f67dd48e5">  138</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_sparse_optimizer.html#ad9f7ba03f7f37114f757f34f67dd48e5">computeMarginals</a>(<a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixXd&gt;</a>&amp; spinv, <span class="keyword">const</span> <a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html">Vertex</a>* <a class="code" href="structg2o_1_1_optimizable_graph.html#a19e014e8ec2e9a6e894da8c3a8f8e50d">vertex</a>) {</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keywordflow">if</span> (vertex-&gt;hessianIndex() &lt; 0) {</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      }</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      std::vector&lt;std::pair&lt;int, int&gt; &gt; index;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      index.push_back(std::pair&lt;int, int&gt;(vertex-&gt;hessianIndex(), vertex-&gt;hessianIndex()));</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_sparse_optimizer.html#a656be8b8244a48dc1207f29eec77af5a">computeMarginals</a>(spinv, index);</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    }</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;</div><div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_optimizer.html#a06bd3e9f1576dafeae317d2697c6f532">  153</a></span>&#160; 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vlist);</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_sparse_optimizer.html#a4c121d69052291775860d06507aba698">push</a>();</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_sparse_optimizer.html#ad2f7f62ebe17b40e050f0525db64355b">pop</a>(<a class="code" href="classg2o_1_1_hyper_graph.html#a9339534c99300a0ddac87ba976ef188c">SparseOptimizer::VertexContainer</a>&amp; vlist);</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_sparse_optimizer.html#ad2f7f62ebe17b40e050f0525db64355b">pop</a>(<a class="code" href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">HyperGraph::VertexSet</a>&amp; vlist);</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; 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  </div><div class="line"><a name="l00295"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_optimizer.html#a3207df163943bc1672fc7872964a6d6c">  295</a></span>&#160;    <a class="code" href="structg2o_1_1_optimizable_graph.html#a2b43e807ae6d61ef8749ca1ef7c25f62">EdgeContainer</a> <a class="code" href="classg2o_1_1_sparse_optimizer.html#a3207df163943bc1672fc7872964a6d6c">_activeEdges</a>;        </div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_sparse_optimizer.html#a8a8c6f08bc9b8a4e520aa73198268991">sortVectorContainers</a>();</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div><div class="line"><a name="l00299"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_optimizer.html#a665d4ba54db76a1174bfc85a6dbc5127">  299</a></span>&#160; 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   <a class="code" href="namespaceg2o.html#a526b32fde21f83173acb2bb29db68275">BatchStatisticsContainer</a> <a class="code" href="classg2o_1_1_sparse_optimizer.html#a21215378d9e8de28aee8d55b4d25ff89">_batchStatistics</a>;   </div><div class="line"><a name="l00308"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_optimizer.html#a3bd44c498c4d983c092f23673de14d5d">  308</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_sparse_optimizer.html#a3bd44c498c4d983c092f23673de14d5d">_computeBatchStatistics</a>;</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  };</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;} <span class="comment">// end namespace</span></div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_sparse_optimizer_html_ae971d068585055973798f93ac2363d94"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#ae971d068585055973798f93ac2363d94">g2o::SparseOptimizer::updateInitialization</a></div><div class="ttdeci">virtual bool updateInitialization(HyperGraph::VertexSet &amp;vset, HyperGraph::EdgeSet &amp;eset)</div><div class="ttdoc">HACK updating the internal structures for online processing. </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:446</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_aad77b73bf7d192fcebf1daf9ae103036"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#aad77b73bf7d192fcebf1daf9ae103036">g2o::SparseOptimizer::findGauge</a></div><div class="ttdeci">virtual Vertex * findGauge()</div><div class="ttdoc">finds a gauge in the graph to remove the undefined dof. </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:116</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a3c3602d865a05486a94ce48c6839bbd6"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a3c3602d865a05486a94ce48c6839bbd6">g2o::SparseOptimizer::~SparseOptimizer</a></div><div class="ttdeci">virtual ~SparseOptimizer()</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:56</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a3207df163943bc1672fc7872964a6d6c"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a3207df163943bc1672fc7872964a6d6c">g2o::SparseOptimizer::_activeEdges</a></div><div class="ttdeci">EdgeContainer _activeEdges</div><div class="ttdoc">sorted according to EdgeIDCompare </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:295</div></div>
<div class="ttc" id="batch__stats_8h_html"><div class="ttname"><a href="batch__stats_8h.html">batch_stats.h</a></div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_ad9f7ba03f7f37114f757f34f67dd48e5"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#ad9f7ba03f7f37114f757f34f67dd48e5">g2o::SparseOptimizer::computeMarginals</a></div><div class="ttdeci">bool computeMarginals(SparseBlockMatrix&lt; MatrixXd &gt; &amp;spinv, const Vertex *vertex)</div><div class="ttdoc">computes the inverse of the specified vertex. </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:138</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_ad8dfc896595b27ea0315862acb54f5f2"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#ad8dfc896595b27ea0315862acb54f5f2">g2o::SparseOptimizer::computeBatchStatistics</a></div><div class="ttdeci">bool computeBatchStatistics() const</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:279</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a44edae09e8d4b2b1f7ed5b9d791f9459"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a44edae09e8d4b2b1f7ed5b9d791f9459">g2o::SparseOptimizer::activeEdges</a></div><div class="ttdeci">const EdgeContainer &amp; activeEdges() const</div><div class="ttdoc">the edges active in the current optimization </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:195</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a085529b092eb7fe4970e0cd6c3bd18bfa040ef6eacdbc7ede37bc5280dc5a2814"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a085529b092eb7fe4970e0cd6c3bd18bfa040ef6eacdbc7ede37bc5280dc5a2814">g2o::SparseOptimizer::AT_COMPUTEACTIVERROR</a></div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:49</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_aa3e5ee5263cd424aa763330d3a8a77c8"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#aa3e5ee5263cd424aa763330d3a8a77c8">g2o::SparseOptimizer::forceStopFlag</a></div><div class="ttdeci">bool * forceStopFlag() const</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:185</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a41b3803182a4db6c0ff8c8d4352dd149"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a41b3803182a4db6c0ff8c8d4352dd149">g2o::SparseOptimizer::_verbose</a></div><div class="ttdeci">bool _verbose</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:291</div></div>
<div class="ttc" id="classg2o_1_1_optimizable_graph_1_1_vertex_html"><div class="ttname"><a href="classg2o_1_1_optimizable_graph_1_1_vertex.html">g2o::OptimizableGraph::Vertex</a></div><div class="ttdoc">A general case Vertex for optimization. </div><div class="ttdef"><b>Definition:</b> optimizable_graph.h:127</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a805e1db97802980fa4dfef95cfa5e63e"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a805e1db97802980fa4dfef95cfa5e63e">g2o::SparseOptimizer::_activeVertices</a></div><div class="ttdeci">VertexContainer _activeVertices</div><div class="ttdoc">sorted according to VertexIDCompare </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:294</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a43517d9f9f23ba6041061c57dddd916d"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a43517d9f9f23ba6041061c57dddd916d">g2o::SparseOptimizer::addComputeErrorAction</a></div><div class="ttdeci">bool addComputeErrorAction(HyperGraphAction *action)</div><div class="ttdoc">add an action to be executed before the error vectors are computed </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:589</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_aac4a9f9b7d875ee40cae55f98d3437ab"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#aac4a9f9b7d875ee40cae55f98d3437ab">g2o::SparseOptimizer::_forceStopFlag</a></div><div class="ttdeci">bool * _forceStopFlag</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:290</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a95fcf7cd9d89562b2c26d99ede3548ed"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a95fcf7cd9d89562b2c26d99ede3548ed">g2o::HyperGraph::vertices</a></div><div class="ttdeci">const VertexIDMap &amp; vertices() const</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:177</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html">g2o::SparseOptimizer</a></div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:45</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a56c0c13954ac7204cfb031c141ece9ae"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a56c0c13954ac7204cfb031c141ece9ae">g2o::SparseOptimizer::initializeOptimization</a></div><div class="ttdeci">virtual bool initializeOptimization(HyperGraph::EdgeSet &amp;eset)</div><div class="ttdoc">Initializes the structures for optimizing a portion of the graph specified by a subset of edges...</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:269</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_action_html"><div class="ttname"><a href="classg2o_1_1_hyper_graph_action.html">g2o::HyperGraphAction</a></div><div class="ttdoc">Abstract action that operates on an entire graph. </div><div class="ttdef"><b>Definition:</b> hyper_graph_action.h:48</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a703938cdb4bb636860eed55a2489d70c"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">g2o::HyperGraph::VertexSet</a></div><div class="ttdeci">std::set&lt; Vertex * &gt; VertexSet</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:91</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a8f0a83518efcba45f769b8b221885b54"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a8f0a83518efcba45f769b8b221885b54">g2o::SparseOptimizer::verbose</a></div><div class="ttdeci">bool verbose() const</div><div class="ttdoc">verbose information during optimization </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:178</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a4c121d69052291775860d06507aba698"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a4c121d69052291775860d06507aba698">g2o::SparseOptimizer::push</a></div><div class="ttdeci">void push()</div><div class="ttdoc">push all the active vertices onto a stack </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:600</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a665d4ba54db76a1174bfc85a6dbc5127"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a665d4ba54db76a1174bfc85a6dbc5127">g2o::SparseOptimizer::_algorithm</a></div><div class="ttdeci">OptimizationAlgorithm * _algorithm</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:299</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_ab64abc4e84ba0fd8f55dbd12477ef76d"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#ab64abc4e84ba0fd8f55dbd12477ef76d">g2o::SparseOptimizer::activeChi2</a></div><div class="ttdeci">double activeChi2() const</div><div class="ttdoc">returns the cached chi2 of the active portion of the graph </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:90</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a5ed7404ef361b479c75a0baf34e0a2bd"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a5ed7404ef361b479c75a0baf34e0a2bd">g2o::SparseOptimizer::setAlgorithm</a></div><div class="ttdeci">void setAlgorithm(OptimizationAlgorithm *algorithm)</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:561</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a422f4c5c78a0c475f4998e24ee173cc7"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a422f4c5c78a0c475f4998e24ee173cc7">g2o::SparseOptimizer::setVerbose</a></div><div class="ttdeci">void setVerbose(bool verbose)</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:556</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a21215378d9e8de28aee8d55b4d25ff89"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a21215378d9e8de28aee8d55b4d25ff89">g2o::SparseOptimizer::_batchStatistics</a></div><div class="ttdeci">BatchStatisticsContainer _batchStatistics</div><div class="ttdoc">global statistics of the optimizer, e.g., timing, num-non-zeros </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:307</div></div>
<div class="ttc" id="structg2o_1_1_optimizable_graph_html_a19e014e8ec2e9a6e894da8c3a8f8e50d"><div class="ttname"><a href="structg2o_1_1_optimizable_graph.html#a19e014e8ec2e9a6e894da8c3a8f8e50d">g2o::OptimizableGraph::vertex</a></div><div class="ttdeci">Vertex * vertex(int id)</div><div class="ttdoc">returns the vertex number id appropriately casted </div><div class="ttdef"><b>Definition:</b> optimizable_graph.h:528</div></div>
<div class="ttc" id="structg2o_1_1_optimizable_graph_html_a54f01b9b6071e65e6abeebe4afb29dec"><div class="ttname"><a href="structg2o_1_1_optimizable_graph.html#a54f01b9b6071e65e6abeebe4afb29dec">g2o::OptimizableGraph::VertexContainer</a></div><div class="ttdeci">std::vector&lt; OptimizableGraph::Vertex * &gt; VertexContainer</div><div class="ttdoc">vector container for vertices </div><div class="ttdef"><b>Definition:</b> optimizable_graph.h:120</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a00492515b99393555aec477ab486195b"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a00492515b99393555aec477ab486195b">g2o::SparseOptimizer::SparseOptimizer</a></div><div class="ttdeci">SparseOptimizer()</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:50</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_vertex_html"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_vertex.html">g2o::HyperGraph::Vertex</a></div><div class="ttdoc">abstract Vertex, your types must derive from that one </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:97</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a9843e19ec85c9f6598e52d7223e54e75"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a9843e19ec85c9f6598e52d7223e54e75">g2o::SparseOptimizer::activeVertices</a></div><div class="ttdeci">const VertexContainer &amp; activeVertices() const</div><div class="ttdoc">the vertices active in the current optimization </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:193</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_aa93ecf8d3b99e2eef3709a5c70cc8632"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#aa93ecf8d3b99e2eef3709a5c70cc8632">g2o::SparseOptimizer::batchStatistics</a></div><div class="ttdeci">BatchStatisticsContainer &amp; batchStatistics()</div><div class="ttdoc">returns the set of batch statistics about the optimisation </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:275</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a775fe12d7df941acbbd86bcf838f0f3c"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a775fe12d7df941acbbd86bcf838f0f3c">g2o::SparseOptimizer::setComputeBatchStatistics</a></div><div class="ttdeci">void setComputeBatchStatistics(bool computeBatchStatistics)</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:437</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a098257ee6f13dbb79be07075244d9930"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a098257ee6f13dbb79be07075244d9930">g2o::SparseOptimizer::optimize</a></div><div class="ttdeci">int optimize(int iterations, bool online=false)</div><div class="ttdoc">starts one optimization run given the current configuration of the graph, and the current settings st...</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:354</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a3bd44c498c4d983c092f23673de14d5d"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a3bd44c498c4d983c092f23673de14d5d">g2o::SparseOptimizer::_computeBatchStatistics</a></div><div class="ttdeci">bool _computeBatchStatistics</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:308</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_ab8af902464774ec3d3910a3674791714"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#ab8af902464774ec3d3910a3674791714">g2o::SparseOptimizer::setToOrigin</a></div><div class="ttdeci">virtual void setToOrigin()</div><div class="ttdoc">sets all vertices to their origin. </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:293</div></div>
<div class="ttc" id="classg2o_1_1_optimizable_graph_1_1_edge_html"><div class="ttname"><a href="classg2o_1_1_optimizable_graph_1_1_edge.html">g2o::OptimizableGraph::Edge</a></div><div class="ttdef"><b>Definition:</b> optimizable_graph.h:382</div></div>
<div class="ttc" id="structg2o_1_1_optimizable_graph_html_a368b5f22dbc57abd2f651a20d039f61c"><div class="ttname"><a href="structg2o_1_1_optimizable_graph.html#a368b5f22dbc57abd2f651a20d039f61c">g2o::OptimizableGraph::discardTop</a></div><div class="ttdeci">virtual void discardTop()</div><div class="ttdoc">discard the last backup of the estimate for all variables by removing it from the stack ...</div><div class="ttdef"><b>Definition:</b> optimizable_graph.cpp:315</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_ac99e785f4822dd540b389ea179ce4f06"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#ac99e785f4822dd540b389ea179ce4f06">g2o::SparseOptimizer::gaugeFreedom</a></div><div class="ttdeci">bool gaugeFreedom()</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:137</div></div>
<div class="ttc" id="optimizable__graph_8h_html"><div class="ttname"><a href="optimizable__graph_8h.html">optimizable_graph.h</a></div></div>
<div class="ttc" id="classg2o_1_1_estimate_propagator_cost_html"><div class="ttname"><a href="classg2o_1_1_estimate_propagator_cost.html">g2o::EstimatePropagatorCost</a></div><div class="ttdoc">cost for traversing along active edges in the optimizer </div><div class="ttdef"><b>Definition:</b> estimate_propagator.h:50</div></div>
<div class="ttc" id="sparse__block__matrix_8h_html"><div class="ttname"><a href="sparse__block__matrix_8h.html">sparse_block_matrix.h</a></div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_aaa505e19f70caa4f0a8fe8eccdbcd768"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#aaa505e19f70caa4f0a8fe8eccdbcd768">g2o::SparseOptimizer::solver</a></div><div class="ttdeci">OptimizationAlgorithm * solver()</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:218</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a06bd3e9f1576dafeae317d2697c6f532"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a06bd3e9f1576dafeae317d2697c6f532">g2o::SparseOptimizer::computeMarginals</a></div><div class="ttdeci">bool computeMarginals(SparseBlockMatrix&lt; MatrixXd &gt; &amp;spinv, const VertexContainer &amp;vertices)</div><div class="ttdoc">computes the inverse of the set specified vertices, assembled into a single covariance matrix...</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:153</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_aaeb1bffea0c80d98b6650cbf51be2b80"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#aaeb1bffea0c80d98b6650cbf51be2b80">g2o::SparseOptimizer::removeComputeErrorAction</a></div><div class="ttdeci">bool removeComputeErrorAction(HyperGraphAction *action)</div><div class="ttdoc">remove an action that should no longer be execured before computing the error vectors ...</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:595</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a801bd46818f64a45aea124789d6d9511"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a801bd46818f64a45aea124789d6d9511">g2o::SparseOptimizer::findActiveVertex</a></div><div class="ttdeci">VertexContainer::const_iterator findActiveVertex(const OptimizableGraph::Vertex *v) const</div><div class="ttdoc">search for an edge in _activeVertices and return the iterator pointing to it getActiveVertices().end() if not found </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:496</div></div>
<div class="ttc" id="structg2o_1_1_optimizable_graph_html"><div class="ttname"><a href="structg2o_1_1_optimizable_graph.html">g2o::OptimizableGraph</a></div><div class="ttdoc">This is an abstract class that represents one optimization problem. </div><div class="ttdef"><b>Definition:</b> optimizable_graph.h:64</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a3b8397148c3b75539043df83412829bd"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a3b8397148c3b75539043df83412829bd">g2o::SparseOptimizer::findActiveEdge</a></div><div class="ttdeci">EdgeContainer::const_iterator findActiveEdge(const OptimizableGraph::Edge *e) const</div><div class="ttdoc">search for an edge in _activeEdges and return the iterator pointing to it getActiveEdges().end() if not found </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:506</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html">g2o::SparseBlockMatrix</a></div><div class="ttdoc">Sparse matrix which uses blocks. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:62</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_af974cb94744550cc732d61f7fd7d63ed"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#af974cb94744550cc732d61f7fd7d63ed">g2o::SparseOptimizer::ActivePathCostFunction</a></div><div class="ttdeci">friend class ActivePathCostFunction</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:53</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_ae592f525151d0cfb5bde3e7213f7ab11"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#ae592f525151d0cfb5bde3e7213f7ab11">g2o::SparseOptimizer::terminate</a></div><div class="ttdeci">bool terminate()</div><div class="ttdoc">if external stop flag is given, return its state. False otherwise </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:188</div></div>
<div class="ttc" id="macros_8h_html_aec1ec1c1e0488c850a48749d4dc7c46b"><div class="ttname"><a href="macros_8h.html#aec1ec1c1e0488c850a48749d4dc7c46b">G2O_ATTRIBUTE_DEPRECATED</a></div><div class="ttdeci">#define G2O_ATTRIBUTE_DEPRECATED(func)</div><div class="ttdef"><b>Definition:</b> macros.h:102</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a8c6af9785e85153ade1490beacad73ce"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a8c6af9785e85153ade1490beacad73ce">g2o::SparseOptimizer::buildIndexMapping</a></div><div class="ttdeci">bool buildIndexMapping(SparseOptimizer::VertexContainer &amp;vlist)</div><div class="ttdoc">builds the mapping of the active vertices to the (block) row / column in the Hessian ...</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:166</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a7eede0614bcccf8707480c53071da8f8"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a7eede0614bcccf8707480c53071da8f8">g2o::SparseOptimizer::batchStatistics</a></div><div class="ttdeci">const BatchStatisticsContainer &amp; batchStatistics() const</div><div class="ttdoc">Linearizes the system by computing the Jacobians for the nodes and edges in the graph. </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:271</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a488b95a90a61454c787e9c13458e510b"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a488b95a90a61454c787e9c13458e510b">g2o::SparseOptimizer::_ivMap</a></div><div class="ttdeci">VertexContainer _ivMap</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:293</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a20ed9e9f1201bfb874456a8d30f169fb"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a20ed9e9f1201bfb874456a8d30f169fb">g2o::SparseOptimizer::discardTop</a></div><div class="ttdeci">void discardTop()</div><div class="ttdoc">same as above, but for the active vertices </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:610</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a09572668aa85b75a5bebf7b66401ce8f"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a09572668aa85b75a5bebf7b66401ce8f">g2o::SparseOptimizer::computeActiveErrors</a></div><div class="ttdeci">void computeActiveErrors()</div><div class="ttdoc">computes the error vectors of all edges in the activeSet, and caches them </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:61</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a9339534c99300a0ddac87ba976ef188c"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a9339534c99300a0ddac87ba976ef188c">g2o::HyperGraph::VertexContainer</a></div><div class="ttdeci">std::vector&lt; Vertex * &gt; VertexContainer</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:94</div></div>
<div class="ttc" id="structg2o_1_1_optimizable_graph_html_a16d90305c171fe0582c6a8aef40ba89da33b97f5bc80d2e6227c95364573d3651"><div class="ttname"><a href="structg2o_1_1_optimizable_graph.html#a16d90305c171fe0582c6a8aef40ba89da33b97f5bc80d2e6227c95364573d3651">g2o::OptimizableGraph::AT_NUM_ELEMENTS</a></div><div class="ttdef"><b>Definition:</b> optimizable_graph.h:68</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a4881e4ac9ba9a58d4e249dc03ef9683d"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a4881e4ac9ba9a58d4e249dc03ef9683d">g2o::SparseOptimizer::clear</a></div><div class="ttdeci">virtual void clear()</div><div class="ttdoc">clears the graph, and polishes some intermediate structures Note that this only removes nodes / edges...</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:489</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a5e2970e236c0dcb4eff7c205d7b6b4ae"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a5e2970e236c0dcb4eff7c205d7b6b4ae">g2o::HyperGraph::EdgeSet</a></div><div class="ttdeci">std::set&lt; Edge * &gt; EdgeSet</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:90</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a085529b092eb7fe4970e0cd6c3bd18bfa9e4fe5403aed6a2ac8b31651c9379098"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a085529b092eb7fe4970e0cd6c3bd18bfa9e4fe5403aed6a2ac8b31651c9379098">g2o::SparseOptimizer::AT_NUM_ELEMENTS</a></div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:50</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_ad2f7f62ebe17b40e050f0525db64355b"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#ad2f7f62ebe17b40e050f0525db64355b">g2o::SparseOptimizer::pop</a></div><div class="ttdeci">void pop()</div><div class="ttdoc">pop (restore) the estimate of the active vertices from the stack </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:605</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_ab6f1f4ad2b1fd50b8019c6abb89ac6a8"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#ab6f1f4ad2b1fd50b8019c6abb89ac6a8">g2o::SparseOptimizer::clearIndexMapping</a></div><div class="ttdeci">void clearIndexMapping()</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:192</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a93e11150d513979a6367518ecaf26e02"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a93e11150d513979a6367518ecaf26e02">g2o::SparseOptimizer::indexMapping</a></div><div class="ttdeci">const VertexContainer &amp; indexMapping() const</div><div class="ttdoc">the index mapping of the vertices </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:191</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_aa08ce344e31a461426289a638b33332a"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#aa08ce344e31a461426289a638b33332a">g2o::SparseOptimizer::algorithm</a></div><div class="ttdeci">const OptimizationAlgorithm * algorithm() const</div><div class="ttdoc">the solver used by the optimizer </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.h:217</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a0fb2a5e2b250bf2530a600f6dcaad03f"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a0fb2a5e2b250bf2530a600f6dcaad03f">g2o::SparseOptimizer::removeVertex</a></div><div class="ttdeci">virtual bool removeVertex(HyperGraph::Vertex *v)</div><div class="ttdoc">Remove a vertex. </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:579</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a656be8b8244a48dc1207f29eec77af5a"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a656be8b8244a48dc1207f29eec77af5a">g2o::SparseOptimizer::computeMarginals</a></div><div class="ttdeci">bool computeMarginals(SparseBlockMatrix&lt; MatrixXd &gt; &amp;spinv, const std::vector&lt; std::pair&lt; int, int &gt; &gt; &amp;blockIndices)</div><div class="ttdoc">computes the blocks of the inverse of the specified pattern. </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:570</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a8a8c6f08bc9b8a4e520aa73198268991"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a8a8c6f08bc9b8a4e520aa73198268991">g2o::SparseOptimizer::sortVectorContainers</a></div><div class="ttdeci">void sortVectorContainers()</div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:482</div></div>
<div class="ttc" id="namespaceg2o_html_a526b32fde21f83173acb2bb29db68275"><div class="ttname"><a href="namespaceg2o.html#a526b32fde21f83173acb2bb29db68275">g2o::BatchStatisticsContainer</a></div><div class="ttdeci">std::vector&lt; G2OBatchStatistics &gt; BatchStatisticsContainer</div><div class="ttdef"><b>Definition:</b> batch_stats.h:80</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a32afd0ab949f170297b4a59f0d9eab81"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a32afd0ab949f170297b4a59f0d9eab81">g2o::SparseOptimizer::setForceStopFlag</a></div><div class="ttdeci">void setForceStopFlag(bool *flag)</div><div class="ttdoc">sets a variable checked at every iteration to force a user stop. </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:574</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a59db9f16934d3b9f7a52511f0be1bb07"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a59db9f16934d3b9f7a52511f0be1bb07">g2o::SparseOptimizer::computeInitialGuess</a></div><div class="ttdeci">virtual void computeInitialGuess()</div><div class="ttdoc">Propagates an initial guess from the vertex specified as origin. </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:300</div></div>
<div class="ttc" id="structg2o_1_1_optimizable_graph_html_a2b43e807ae6d61ef8749ca1ef7c25f62"><div class="ttname"><a href="structg2o_1_1_optimizable_graph.html#a2b43e807ae6d61ef8749ca1ef7c25f62">g2o::OptimizableGraph::EdgeContainer</a></div><div class="ttdeci">std::vector&lt; OptimizableGraph::Edge * &gt; EdgeContainer</div><div class="ttdoc">vector container for edges </div><div class="ttdef"><b>Definition:</b> optimizable_graph.h:122</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html">g2o::OptimizationAlgorithm</a></div><div class="ttdoc">Generic interface for a non-linear solver operating on a graph. </div><div class="ttdef"><b>Definition:</b> optimization_algorithm.h:46</div></div>
<div class="ttc" id="classg2o_1_1_sparse_optimizer_html_a9a8950d87cbbfe991b5f6381db19593c"><div class="ttname"><a href="classg2o_1_1_sparse_optimizer.html#a9a8950d87cbbfe991b5f6381db19593c">g2o::SparseOptimizer::activeRobustChi2</a></div><div class="ttdeci">double activeRobustChi2() const</div><div class="ttdoc">returns the cached chi2 of the active portion of the graph. </div><div class="ttdef"><b>Definition:</b> sparse_optimizer.cpp:100</div></div>
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